EP3546118A1 - Machining system and machining method - Google Patents
Machining system and machining method Download PDFInfo
- Publication number
- EP3546118A1 EP3546118A1 EP19159565.1A EP19159565A EP3546118A1 EP 3546118 A1 EP3546118 A1 EP 3546118A1 EP 19159565 A EP19159565 A EP 19159565A EP 3546118 A1 EP3546118 A1 EP 3546118A1
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- EP
- European Patent Office
- Prior art keywords
- machining
- work
- unit
- abutting member
- rotating tool
- Prior art date
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- 238000003754 machining Methods 0.000 title claims abstract description 256
- 238000000034 method Methods 0.000 title claims description 17
- 230000008859 change Effects 0.000 claims abstract description 7
- 238000003780 insertion Methods 0.000 claims description 17
- 230000037431 insertion Effects 0.000 claims description 17
- 238000005259 measurement Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 description 42
- 238000001514 detection method Methods 0.000 description 18
- 238000005520 cutting process Methods 0.000 description 14
- 239000002893 slag Substances 0.000 description 13
- 238000012545 processing Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C5/00—Milling-cutters
- B23C5/02—Milling-cutters characterised by the shape of the cutter
- B23C5/12—Cutters specially designed for producing particular profiles
- B23C5/14—Cutters specially designed for producing particular profiles essentially comprising curves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/12—Trimming or finishing edges, e.g. deburring welded corners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/14—Control or regulation of the orientation of the tool with respect to the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
- B23Q17/2283—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the distance between coaxially rotating tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2428—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring existing positions of tools or workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/15—Devices for holding work using magnetic or electric force acting directly on the work
- B23Q3/154—Stationary devices
- B23Q3/1543—Stationary devices using electromagnets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
- B23Q9/0014—Portable machines provided with or cooperating with guide means supported directly by the workpiece during action
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
- B23Q9/02—Arrangements for supporting or guiding portable metal-working machines or apparatus for securing machines or apparatus to workpieces, or other parts, of particular shape, e.g. to beams of particular cross-section
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C2210/00—Details of milling cutters
- B23C2210/08—Side or top views of the cutting edge
- B23C2210/084—Curved cutting edges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C2220/00—Details of milling processes
- B23C2220/16—Chamferring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C2220/00—Details of milling processes
- B23C2220/20—Deburring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C2220/00—Details of milling processes
- B23C2220/40—Using guiding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C2255/00—Regulation of depth of cut
- B23C2255/08—Limitation of depth of cut
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C2270/00—Details of milling machines, milling processes or milling tools not otherwise provided for
- B23C2270/14—Constructions comprising exactly two similar components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2240/00—Machine tools specially suited for a specific kind of workpiece
- B23Q2240/002—Flat workpieces
Definitions
- the column members 272 may be arranged at the equal angular pitch ⁇ in the circumferential direction, similar to the example shown in Fig. 13 . If two column members are provided, the angular pitch for arrangement is 180°. If three column members are provided, the angular pitch for arrangement is 120°.
- the control apparatus 80 controls the machining system 1 in accordance with an instruction of the host computer 86.
- a control example will be described below.
- the state ST11 shows a case in which the moving body 32 is at the initial position.
- the camera 42 is located at a position shifted in the Y direction from the work 2 held by the holding apparatus 10. Detection of the shape of the work 2 starts from this position. First, the illumination apparatus 43 starts to irradiate the work 2, and the camera 42 starts to shoot the work 2.
- the moving body 32 is moved to scan on the work 2.
- the camera 42 sequentially shoots the shape of the work 2, and image data and position information are saved in the storage unit 82.
- the moving body 32 reaches the position (turnaround position) shifted in the Y direction from the work 2, shooting ends. In this way, the work 2 is wholly scanned.
- the state ST21 in Fig. 9 indicates a case in which the moving body 32 is located in the end portion of the work 2.
- This embodiment assumes that the machining target portions are machined in an order of P1 ⁇ P2 ⁇ ... ⁇ P8.
- the moving apparatus 30 moves the machining unit 20 closer to the machining target portion P1 (movement step).
- the holding unit 11 located at the machining target portion P1 is specified.
- the holding unit 11h is located at the machining target portion P1. Therefore, chucking by the chucking bodies 113 of the holding unit 11h is stopped to release holding.
- the moving mechanism 12 that moves the holding unit 11h is driven to switch the position of the holding unit 11h from the holding position to the retracted position (position change step). Note that movement of the machining unit 20 and switching of the position of the holding unit 11 may be controlled to be perform sequentially instead of being performed simultaneously. In this case, either of these processes may be performed first.
- the machining unit 20 when the machining unit 20 reaches a position above the machining target portion P2, the machining unit 20 is lowered and the machining unit 20 is driven, starting machining of the machining target portion P2 by the rotating tool 25.
- the machining unit 20 By moving the machining unit 20 in the direction of an arrow along the shape of the machining target portion P2, chamfering of the edge of the machining target portion P2 is performed.
- the machining unit 20 can be moved by the moving apparatus 30 based on the shape data 2'.
- the holding unit 11g is located at the retracted position, and never interferes with the rotating tool 25. Therefore, the holding unit 11g never hinders machining or is never damaged by the rotating tool 25. Furthermore, the holding units 11 other than the holding unit 11g are located at the holding positions to hold the work 2. Thus, the position of the work 2 is never shifted during machining.
- the position of the machining unit 20 (the position of the machining portion 252) and the position of the vertical moving body 27 (upper surface abutting member 271) are set based on the result of previously measuring the plate thickness of the work 2 by the plate thickness sensor 6.
- the optimum positions of the machining unit 20 (machining portion 252) and the vertical moving body 27 in the master piece can be corrected based on the plate thickness measurement result of the work 2 to set the respective positions this time.
- the moving apparatus 30 horizontally moves the machining unit 20, starting chamfering of the upper edge 2c by the machining portion 252 (machining step). At this time, when the abutting portion 254a of the end face abutting member 254 abuts against the end face 2e, it is possible to suppress the cutting depth from being deep while pressing the machining portion 252 against the upper edge 2c by the moving apparatus 30.
- the moving apparatus 30 moves the machining unit 20 along the shape of the machining target portion P, as shown in the state ST22 in Fig. 9 and the like (first moving operation).
- the process transitions to chamfering of the lower edge 2d.
- the moving apparatus 30 horizontally moves the machining unit 20 to separate the machining portion 252 from the upper edge 2c, and then raises the machining unit 20.
- the moving apparatus 30 lowers the machining unit 20 to locate the machining portion 253 of the rotating tool 25 on a side of the lower edge 2d.
- the vertical moving unit 26 changes the position of the upper surface abutting member 271 in the Z direction with respect to the rotating tool 25 so that the abutting portion 271a of the upper surface abutting member 271 abuts against the upper surface 2a (change step). Similar to machining of the upper edge 2c, the position of the machining unit 20 (the position of the machining portion 253) and the position of the vertical moving body 27 (the position of the upper surface abutting member 271) are set based on the result of measuring the plate thickness of the work 2 by the plate thickness sensor 6.
- the slag 2f never adversely influences positioning at the time of chamfering of the lower edge 2d.
- the slag 2f is removed by chamfering of the lower edge 2d of the work 2, and if the work 2 having undergone chamfering in the machining system 1 according to this embodiment is used for a product, a satisfactory end product is obtained.
- the machining unit 20 can be moved smoothly without any influence of the slag 2f by abutting the upper surface abutting member 271 against the upper surface 2a.
- one plate-like member is used as the upper surface abutting member 271, and a circular hole is formed as the insertion portion 271b.
- a circular hole is formed as the insertion portion 271b.
- Figs. 20A to 20C show other examples.
- each plate-like member 271c is supported by a column member 272.
- the three column members 272 are arranged at an equal distance from the center of the insertion portion 271d and at an equal angular pitch ⁇ (120°) in the circumferential direction around the insertion portion 271d.
Abstract
Description
- The present invention relates to a machining system and a machining method for machining a work.
- There is proposed various systems as a machining system that automates machining for a plate-like work. For example, Japanese Patent Nos.
5778792 5481919 2571322 5778792 - In a steel sheet cut by a laser cutter or plasma cutter, an uneven structure (slag) is generated in the periphery of an edge on one side of the steel sheet. In machining for the edge of the work with the uneven structure, if, as described in Japanese Patent No.
5778792 - The present invention provides a technique capable of efficiently machining the edges of both surfaces of a plate-like work.
- The present invention provides a machining system as specified in
claims 1 to 7. - The present invention also provides a machining method as specified in claim 8.
- Further features of the present invention will become apparent from the following description of exemplary embodiments with reference to the attached drawings.
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Fig. 1 is a plan view of a machining system according to an embodiment of the present invention; -
Fig. 2 is a side view of the machining system shown inFig. 1 ; -
Fig. 3 is a perspective view of a holding apparatus, a machining unit, and a moving apparatus; -
Fig. 4 is a block diagram of a control apparatus; -
Fig. 5 is an explanatory view of the operation of the machining system shown inFig. 1 ; -
Fig. 6 is an explanatory view of the operation of the machining system shown inFig. 1 ; -
Fig. 7 is an explanatory view of the operation of the machining system shown inFig. 1 ; -
Fig. 8 is an explanatory view of the operation of the machining system shown inFig. 1 ; -
Fig. 9 is an explanatory view of the operation of the machining system shown inFig. 1 ; -
Fig. 10 is an explanatory view of the operation of the machining system shown inFig. 1 ; -
Fig. 11 is an explanatory view of the machining unit; -
Fig. 12 is an explanatory view of the machining unit; -
Fig. 13 is a perspective view of a vertical moving body; -
Fig. 14 is a sectional view taken along a line I - I inFig. 11 ; -
Fig. 15 is an explanatory view of a plate thickness sensor; -
Fig. 16 is an explanatory view of the operation of the machining unit; -
Fig. 17 is an explanatory view of the operation of the machining unit; -
Fig. 18 is an explanatory view of the operation of the machining unit; -
Figs. 19A and 19B are schematic views respectively showing sectional shapes before and after chamfering of the lower edge of a work; and -
Figs. 20A to 20C are explanatory views of other examples of an upper surface abutting member. -
Fig. 1 is a plan view of amachining system 1 according to an embodiment of the present invention.Fig. 2 is a side view of themachining system 1. InFigs. 1 and2 , arrows X and Y indicate two horizontal directions orthogonal to each other, and an arrow Z indicates a vertical direction. Themachining system 1 is a system for performing chamfering (in this embodiment, R chamfering) of the upper and lower edges of a plate-like work 2. Thework 2 is, for example, a steel sheet. Themachining system 1 is virtually divided into amachining area 3, anunloading area 4, and aloading area 5. Theseareas 3 to 5 are arranged in the Y direction. - The
machining system 1 includes aholding apparatus 10, amachining unit 20, a movingapparatus 30, adetection apparatus 40, placement tables 50 and 60, and aconveyance apparatus 70. The placement table 60 is arranged in theloading area 5, and theunmachined work 2 is placed on the placement table 60. The placement table 50 is arranged in theunloading area 4, and themachined work 2 is placed on the placement table 50. - The
holding apparatus 10 will be described with reference toFig. 3 in addition toFigs. 1 and2 .Fig. 3 is a perspective view of theholding apparatus 10, themachining unit 20, and the movingapparatus 30. During machining, theholding apparatus 10 holds thework 2 in a horizontal orientation. Theholding apparatus 10 includes a plurality ofholding units 11a to 11j, andmoving mechanisms 12 provided for therespective holding units 11a to 11j. When theholding units 11a to 11j are collectively called or any specific holding unit is not indicated, they will be simply referred to asholding units 11 hereinafter. - In this embodiment, the plurality of
holding units 11 are arranged in the Y direction in a tie shape. Eachholding unit 11 includes a unitmain body portion 111 extending in the X direction, at least onesupport member 112, and at least onechucking body 113. In this embodiment, each unitmain body portion 111 is a rod-shaped member having a square section. Thesupport member 112 and thechucking body 113 are provided on the upper surface of the unitmain body portion 111. - Each
support member 112 projects upward from the upper surface of the unitmain body portion 111 and, in this embodiment, has a rounded distal end and a convex surface portion. Thework 2 is placed on the convex surface portions of thesupport members 112 and supported. The rounded distal ends can reduce damage to thework 2. Thechucking bodies 113 chuck thework 2. In this embodiment, eachchucking body 113 is an electromagnet. However, other kinds of chucking bodies such as a vacuum chuck may be used. In this embodiment, chucking and chucking release of thechucking bodies 113 are controlled for eachholding unit 11. - The distal ends of the
support members 112 and the upper surfaces of the chuckingbodies 113 are located on almost the same horizontal plane (at almost the same height). When the chuckingbodies 113 chuck thework 2 placed on thesupport members 112, it is possible to fix thework 2 in a horizontal orientation. - In this embodiment, the numbers of
support members 112 and chuckingbodies 113 and their arrangements are different for each holdingunit 11. For example, the holdingunit 11a includes threesupport members 112 and four chuckingbodies 113 but the holdingunit 11b includes fivesupport members 112 and two chuckingbodies 113. A support position and a chucking position are different for each portion of thework 2 by changing the numbers ofsupport members 112 and chuckingbodies 113 of the holdingunit 11 and their arrangements for each portion of thework 2, thereby making it possible to support and chuck thework 2 without unevenness. For all the holdingunits 11, the numbers ofsupport members 112 and chuckingbodies 113 and their arrangement may be the same, as a matter of course. - Note that for the holding
units support members 112 and chuckingbodies 113 and their arrangements are the same. For the holdingunits support members 112 and chuckingbodies 113 and their arrangements are the same. Furthermore, for the holdingunits support members 112 and chuckingbodies 113 and their arrangements are the same. By distributively arranging the holdingunits 11 for which the numbers ofsupport members 112 and chuckingbodies 113 and their arrangements are the same, it is possible to support and chuck thework 2 without unevenness while decreasing the kinds of holdingunits 11 for which the numbers ofsupport members 112 and chuckingbodies 113 and their arrangements are different. - Each moving
mechanism 12 moves each holdingunit 11 in the Z direction between a holding position and a retracted position. The movingmechanism 12 is, for example, an electrically-driven cylinder or an air cylinder, and is individually controlled. The holding position is a position for holding thework 2.Fig. 2 shows a case in which all the holdingunits 11 are located at the holding positions. In this case, the distal ends of all thesupport members 112 and the upper surfaces of all the chuckingbodies 113 are located on almost the same horizontal plane. Therefore, when the chuckingbodies 113 chuck thework 2 placed on thesupport members 112, thework 2 can be fixed in a horizontal orientation. The retracted position is a position separated downward from the holding position, and a position at which interference with a rotating tool 25 (seeFig. 11 and the like to be described later) of themachining unit 20 is avoided during machining. The holdingunits 11 are located at the holding positions normally, and are individually moved to the retracted positions only when necessary during machining. - Note that in this embodiment, the moving
mechanisms 12 are provided respectively in all the holdingunits 11 and can move the holdingunits 11 in the vertical direction. However, it is not always necessary to be able to move all the holding units, and there may exist fixed holding units. For example, like the holdingunits - Referring to
Figs. 1 to 3 , the movingapparatus 30 is an apparatus that moves themachining unit 20 to a machining target portion of thework 2 held by the holdingapparatus 10. In this embodiment, the movingapparatus 30 three-dimensionally moves themachining unit 20 above thework 2. - The moving
apparatus 30 includes a pair ofguide members 31 extending in the Y direction and a movingbody 32. The pair ofguide members 31 are disposed away from each other in the X direction to be located in both side portions of the holdingapparatus 10. In this embodiment, the holdingapparatus 10 and the placement tables 50 and 60 are arranged in the Y direction, and the pair ofguide members 31 extend in the Y direction over them. - The moving
body 32 is laid on the pair ofguide members 31, and is guided by theguide members 31 to be movable in the Y direction. The movingbody 32 includes a pair ofsliders 321, a pair ofcolumn members 322, and abeam member 323 laid between the pair ofcolumn members 322. Thesliders 321 are engaged with theguide members 31 to be movable along theguide members 31. Thecolumn members 322 are provided upright on thesliders 321, respectively. Thebeam member 323 extends in the X direction. - The moving
body 32 is moved by a driving mechanism (not shown). As the driving mechanism, various driving mechanisms such as a rack and pinion mechanism, a belt transmission mechanism, and a ball and screw mechanism can be adopted. If the rack and pinion mechanism is adopted, for example, a motor with a pinion may be fixed to one of the pair ofsliders 321, and a rack may be provided along theguide member 31. - The moving
apparatus 30 includes a movingbody 33 supported by the movingbody 32. The movingbody 33 is engaged with thebeam member 323 to be movable in the X direction along thebeam member 323. The movingbody 33 is moved by a driving mechanism (not shown). As the driving mechanism, various driving mechanisms such as a rack and pinion mechanism, a belt transmission mechanism, and a ball and screw mechanism can be adopted. - The moving
apparatus 30 includes a movingbody 34 supported by the movingbody 33. The movingbody 34 is engaged with the movingbody 33 to be movable in the Z direction along the movingbody 33. The movingbody 34 is moved by a driving mechanism (not shown). As the driving mechanism, various driving mechanisms such as a rack and pinion mechanism, a belt transmission mechanism, and a ball and screw mechanism can be adopted. - The
machining unit 20 is supported by the movingbody 34 via abeam 35. Themachining unit 20 can be moved in the Z direction by the movement of the movingbody 34, moved in the X direction by the movement of the movingbody 33, and moved in the Y direction by the movement of the movingbody 32. Aplate thickness sensor 6 that measures the plate thickness of thework 2 is also supported by thebeam 35. - The
machining unit 20 will be described with reference toFigs. 11 and12 in addition toFigs. 1 to 3 .Fig. 11 is a side view of themachining unit 20 and an explanatory view of the operation of themachining unit 20.Fig. 12 is a front view of themachining unit 20 and an explanatory view of the operation of themachining unit 20. Themachining unit 20 is an apparatus that cuts thework 2 by the rotatingtool 25. - The
machining unit 20 includes abase plate 21 fixed to thebeam 35, and amovable plate 22 supported to be slidable in the Z direction with respect to thebase plate 21. Thebase plate 21 and themovable plate 22 are plate-like members extending on the Z-X plane. -
Support plates movable plate 22. Thesupport plates 22a to 22c are plate-like members extending on the X-Y plane. Theuppermost plate 22a supports drivingunits unit 24 is a unit that rotates therotating tool 25 about an axis in the Z direction, and includes an electric motor and a decelerator that decelerates the output rotation of the electric motor. Anoutput shaft 24a of the drivingunit 24 extends downward in the Z direction through an opening (not shown) formed in thesupport plate 22a, and is connected to aspindle 23. Thesupport plate 22b supports the middle portion of thespindle 23, and thesupport plate 22c supports the lower portion of thespindle 23. The rotatingtool 25 is connected to thespindle 23, and the drivingunit 24, thespindle 23, and therotating tool 25 are coaxially located. -
Fig. 14 is a sectional view taken along a line I - I inFig. 11 , and shows the outer appearance of therotating tool 25. The rotatingtool 25 includes a machining portionmain body 251, machiningportions face abutting members - The machining portion
main body 251 is an axial rod member extending in the Z direction, and rotates about the axis in the Z direction by receiving the driving force of the drivingunit 24 via thespindle 23. Themachining portions work 2, and are fixed to the machining portionmain body 251. Themachining portion 252 is a portion that cuts the upper edge of thework 2, and has a conical shape which reduces in diameter downward. Themachining portion 253 is a portion that cuts the lower edge of thework 2, and has a conical shape which reduces in diameter upward. In this embodiment, to perform R chamfering of the edge of thework 2, the sectional shapes of the peripheral surfaces of themachining portions - The
machining portion 252 is provided on the lower side of the machining portionmain body 251, and themachining portion 253 is provided on the upper side of the machining portionmain body 251. By arranging, on the lower side, themachining portion 252 that cuts the upper edge of thework 2 and arranging, on the upper side, themachining portion 253 that cuts the lower edge of thework 2, it is possible to successively, efficiently machine the upper and lower edges of thework 2, and shorten the full length of therotating tool 25. - The end
face abutting members work 2 during machining of thework 2 by the rotatingtool 25. The endface abutting members main body 251 is inserted, and abuttingportions face abutting member 254 and the peripheral surface at the lower end of the endface abutting member 255. - The end
face abutting member 254 is located on the lower side of themachining portion 252. When cutting the upper edge of thework 2 by themachining portion 252, the abuttingportion 254a of the endface abutting member 254 is abutted against the end face of thework 2. This can appropriately maintain the cutting depths of themachining portion 252. The cutting depths indicate cutting depths in thework 2 from anupper surface 2a and anend face 2e (both will be described later) of thework 2. - The end
face abutting member 255 is located on the upper side of themachining portion 253. When cutting the lower edge of thework 2 by themachining portion 253, the abuttingportion 255a of the endface abutting member 255 is abutted against the end face of thework 2. This can appropriately maintain the cutting depths of themachining portion 253. The cutting depths indicate cutting depths in thework 2 from alower surface 2b and theend face 2e (both will be described later) of thework 2. - Note that an example of the arrangement of the end
face abutting members face abutting members rotating tool 25 but may be provided separately from the rotatingtool 25. In this case, an end face abutting member for upper edge machining and that for lower edge machining may be formed by a single member. - Referring to
Figs. 11 and12 , a vertical movingunit 26 is a driving unit that vertically moves a vertical movingbody 27, and includes an electric motor. The output shaft of the vertical movingunit 26 is connected to the upper end portion of aball screw 26a. Theball screw 26a extends downward in the Z direction through an opening (not shown) formed in thesupport plate 22a. Aball nut 26b is engaged with theball screw 26a. Theball nut 26b is fixed to the vertical moving body 27 (more specifically, an upper plate 270). - When the
ball screw 26a is rotated by driving of the vertical movingunit 26, theball nut 26b moves in the Z direction. As a result, it is possible to change the position of the vertical movingbody 27 in the Z direction with respect to therotating tool 25. States ST31 and ST32 inFig. 11 show an example in which the vertical movingbody 27 is moved in the Z direction. The state ST32 indicates a state in which the vertical movingbody 27 is lowered more than in the state ST31, and the position of the vertical movingbody 27 with respect to therotating tool 25 is changed. - Note that in this embodiment, the vertical moving
body 27 is vertically moved by the ball screw mechanism. However, another mechanism such as a rack and pinion mechanism can be adopted. - The vertical moving
body 27 includes theupper plate 270, an uppersurface abutting member 271, and a plurality ofcolumn members 272 that connect theupper plate 270 and the uppersurface abutting member 271.Figs. 13 and14 are further referred to.Fig. 13 is a perspective view of the vertical movingbody 27 when viewed from the lower side of the uppersurface abutting member 271.Fig. 14 is a sectional view taken along the line I - I inFig. 11 . - The
upper plate 270 and the uppersurface abutting member 271 are both square plate-like members. However, the shapes of theupper plate 270 and the uppersurface abutting member 271 are not limited to the square, and may be circular. In the central portion of theupper plate 270, acircular opening portion 270a into which theoutput shaft 24a of the drivingunit 24 can be inserted is formed. - The upper
surface abutting member 271 is a member that abuts against the upper surface of thework 2 when machining thework 2 by the rotatingtool 25. In the central portion of the uppersurface abutting member 271, aninsertion portion 271b into which therotating tool 25 is inserted is formed. In this embodiment, theinsertion portion 271b is a circular hole coaxial with the rotatingtool 25. In the periphery of theinsertion portion 271b on the lower surface of the uppersurface abutting member 271, anannular abutting portion 271a is formed to surround theinsertion portion 271b. This abuttingportion 271a actually abuts against the upper surface of thework 2 when machining thework 2 by the rotatingtool 25. The abuttingportion 271a projects downward from the lower surface of the uppersurface abutting member 271, and has a lower end formed to have a semicircular sectional shape. Since the abuttingportion 271a is annular, at least part of the abuttingportion 271a can always be abutted against the upper surface of thework 2 regardless of the positional relationship between therotating tool 25 and the machining target portion. Since the distal end of the abuttingportion 271a has a curved surface, the contact area of the abuttingportion 271a with the upper surface of thework 2 can be made small, and the friction between the abuttingportion 271a and thework 2 can be reduced. The abuttingportion 271a can also be formed as a separate member detachable from the main body of the uppersurface abutting member 271. For example, if the abuttingportion 271a wears due to the friction with the upper surface of thework 2, and needs to be replaced, it is possible to replace only the abuttingportion 271a rather than the entire uppersurface abutting member 271. - The plurality of
column members 272 are members that hang the uppersurface abutting member 271 to support it. In this embodiment, fourcolumn members 272 are provided. By supporting the uppersurface abutting member 271 by the plurality ofcolumn members 272, it is possible to vertically move the uppersurface abutting member 271 while stably maintaining it in a horizontal orientation. Eachcolumn member 272 is inserted into atube member 22d provided in thesupport plate 22c, and thetube member 22d guides the movement of thecolumn member 272 in the Z direction. - The four
column members 272 are arranged at an equal distance from the center of theinsertion portion 271b (that is, the shaft center of the rotating tool 25) and at an equal angular pitch θ (90°) in the circumferential direction around theinsertion portion 271b (that is, the rotating tool 25), as shown inFig. 13 . This makes it possible to abut the uppersurface abutting member 271 against the upper surface of thework 2 more stably. - Note that there are provided the four
column members 272 in this embodiment but one to three or five ormore column members 272 may be provided. If two ormore column members 272 are provided, thecolumn members 272 may be arranged at the equal angular pitch θ in the circumferential direction, similar to the example shown inFig. 13 . If two column members are provided, the angular pitch for arrangement is 180°. If three column members are provided, the angular pitch for arrangement is 120°. - Referring to
Fig. 12 , thebase plate 21 is provided with a drivingunit 28 that vertically moves themovable plate 22 with respect to thebase plate 21. In this example, the drivingunit 28 is an air cylinder with arod 28a. However, the drivingunit 28 may be an electric cylinder, or a unit including an electric motor and a ball screw mechanism or a rack and pinion mechanism. - The
rod 28a extends in the Z direction, and the upper end portion of therod 28a is fixed to a fixingportion 22e of themovable plate 22. When the drivingunit 28 is extended/retracted by moving therod 28a, themovable plate 22 can be vertically moved with respect to thebase plate 21. States ST33 and ST34 inFig. 12 show an example in which themovable plate 22 is moved by extending/retracting the drivingunit 28. The state ST34 indicates a state in which thedriving unit 28 is extended more than in the state ST33, and themovable plate 22 is raised. When cutting the lower edge of thework 2 by themachining portion 253 of therotating tool 25, it is possible to press themachining portion 253 against the lower edge of thework 2 stably by biasing themovable plate 22 upward by the drivingunit 28. - The
plate thickness sensor 6 will be described with reference toFig. 15 . Theplate thickness sensor 6 includes a C-shapedmain body 61 and ameasurement unit 62. To measure the plate thickness, thework 2 is received by the C-shaped gap of themain body 61, and placed on aplacement portion 61a. Ameasurer 62a of themeasurement unit 62 is lowered to abut against the upper surface of thework 2. It is possible to measure the plate thickness of thework 2 by the lowering stroke of themeasurer 62a. Before measurement, themeasurer 62a and theplacement portion 61a are brought into contact with each other while there is nowork 2, and the contact position (the height of the measurer) is set as a zero point at which the plate thickness is zero. - As a use example of the
plate thickness sensor 6 at the time of machining, for example, a master piece (not shown) as the reference of plate thickness measurement is held in advance in a horizontal orientation by the holdingapparatus 10, and the plate thickness of the master piece is measured by theplate thickness sensor 6. A measurement result is saved as a reference values in a control apparatus 80 (to be described later). For eachwork 2 to be machined, the plate thickness of thework 2 is measured by theplate thickness sensor 6, and thecontrol apparatus 80 calculates the difference between the measured plate thickness and the reference value. In accordance with a calculation result, the position of the vertical movingbody 27 with respect to therotating tool 25 is corrected, and the vertical movingunit 26 is controlled. In accordance with the individual difference of thework 2, the edge of thework 2 can be machined more accurately. - Note that as the
plate thickness sensor 6, other kinds of sensors such as a laser range finder in addition to the example shown inFig. 15 are usable. - Referring to
Figs. 1 to 3 , thedetection apparatus 40 detects the shape of the machining target portion of thework 2 held by the holdingapparatus 10. In this embodiment, thedetection apparatus 40 is a shooting apparatus that shoots the shape of thework 2. Thedetection apparatus 40 includes asupport member 41, acamera 42 supported by thesupport member 41, and anillumination apparatus 43 supported by thesupport member 41. - The
support member 41 is fixed to thebeam member 323. That is, thedetection apparatus 40 is mounted on the movingbody 32 in addition to themachining unit 20. Therefore, thedetection apparatus 40 can be moved in the Y direction by the movingapparatus 30. Then, in addition to themachining unit 20, the movingapparatus 30 can also be used as the moving mechanism of thedetection apparatus 40, thereby simplifying the system. - The
illumination apparatus 43 extends in the X direction, and illuminates a lower portion. Theillumination apparatus 43 is formed from, for example, an LED or a laser apparatus. Thecamera 42 shoots the lower portion. Thecamera 42 is formed from an image sensor such as a CCD sensor, an optical system, and the like. In this embodiment, a method of shooting the shape of thework 2 by thecamera 42 is adopted. However, other methods may be used as long as it is possible to detect the shape of thework 2. - Referring to
Figs. 1 and2 , theconveyance apparatus 70 conveys thework 2 among the holdingapparatus 10 and the placement tables 50 and 60. Theconveyance apparatus 70 includes a movingbody 71, a vertical movingapparatus 72, and a holdingapparatus 73 for conveyance. In this embodiment, theconveyance apparatus 70 shares the pair ofguide members 31 with the movingapparatus 30. This can simplify the system. - The moving
body 71 is laid on the pair ofguide members 31, and is guided by theguide members 31 to be movable in the Y direction. The movingbody 71 includes a pair ofsliders 711, a pair of column members 712, and abeam member 713 laid on the pair of column members 712. Thesliders 711 are engaged with theguide members 31 to be movable along theguide members 31. The column members 712 are provided upright on thesliders 711, respectively. Thebeam member 713 extends in the X direction. - The moving
body 71 is moved by a driving mechanism (not shown). As the driving mechanism, various driving mechanisms such as a rack and pinion mechanism, a belt transmission mechanism, and a ball and screw mechanism can be adopted. If the rack and pinion mechanism is adopted, for example, a motor with a pinion may be fixed to one of the pair ofsliders 711, and a rack may be provided along theguide member 31. If the rack and pinion mechanism is adopted as the driving mechanism for the movingbody 32 of the movingapparatus 30, a rack provided along theguide member 31 may be shared. - The vertical moving
apparatus 72 is supported by the movingbody 71. In this embodiment, the vertical movingapparatus 72 is fixed to the central portion of thebeam member 713 but may be movable in the X direction along thebeam member 713. The vertical movingapparatus 72 is an actuator that vertically moves a movingbody 72a in the Z direction, and is, for example, an electric cylinder or an air cylinder. - The holding
apparatus 73 is fixed to the lower end portion of the movingbody 72a. The holdingapparatus 73 includes a plurality of chuckingbodies 731. When the chuckingbodies 731 chuck the surface of thework 2, the holdingapparatus 73 holds thework 2. In this embodiment, each chuckingbody 731 is an electromagnet. However, other kinds of chucking bodies such as a vacuum chuck may be used. The holdingapparatus 73 may be a clamp type holding apparatus that grips thework 2. -
Fig. 4 is a block diagram of thecontrol apparatus 80 that controls themachining system 1. Thecontrol apparatus 80 includes aprocessing unit 81, astorage unit 82, and aninterface unit 83, all of which are interconnected by a bus (not shown). Theprocessing unit 81 executes a program stored in thestorage unit 82. Theprocessing unit 81 is, for example, a CPU. Thestorage unit 82 is, for example, a RAM, a ROM, a hard disk, or the like. Theinterface unit 83 is provided between the processingunit 81 and external devices (ahost computer 86, asensor 84, and an actuator 85), and is, for example, a communication interface or an I/O interface. - The
sensor 84 includes, for example, a sensor that detects the position of the machining unit 20 (for example, a sensor that detects the position of each of the movingbodies apparatus 73, the image sensor of thecamera 42, and theplate thickness sensor 6. Theactuator 85 includes the chuckingbodies 113, the driving sources of the movingmechanisms 12, the respective driving sources provided in the movingapparatus 30, the respective driving sources of themachining unit 20, the driving source of theconveyance apparatus 70, and the chuckingbodies 731. - The
control apparatus 80 controls themachining system 1 in accordance with an instruction of thehost computer 86. A control example will be described below. - An example of conveyance of the
work 2 will be described with reference toFigs. 5 and6 . Generally, a plurality ofunmachined works 2 are loaded onto the placement table 60 by a conveyance apparatus (not shown). Theconveyance apparatus 70 conveys theworks 2 on the placement table 60 onto the holdingapparatus 10 one by one. When machining of thework 2 on the holdingapparatus 10 ends, theconveyance apparatus 70 conveys themachined work 2 onto the placement table 50. Themachined work 2 is stacked on the placement table 50. If the number of machined works 2 on the placement table 50 reaches a predetermined number, a conveyance apparatus (not shown) unloads the machined works 2 from the placement table 50 to the outside. - A state ST1 in
Fig. 5 indicates a state in which the holdingapparatus 73 of theconveyance apparatus 70 holds thework 2 on the placement table 60. The vertical movingapparatus 72 lowers the holdingapparatus 73 onto the surface of theuppermost work 2 among the stacked works 2. Then, the chuckingbodies 731 are actuated to hold thework 2. Subsequently, the vertical movingapparatus 72 raises the holdingapparatus 73 to lift up thework 2. - Next, as shown in a state ST2 in
Fig. 5 , the movingbody 71 is moved to the holdingapparatus 10. Thus, thework 2 is located above the holdingapparatus 10. The vertical movingapparatus 72 lowers the holdingapparatus 73 to place thework 2 on the holdingapparatus 10. Then, chucking by the chuckingbodies 731 is stopped to release the heldwork 2, and the vertical movingapparatus 72 raises the holdingapparatus 73. - Next, as shown in a state ST3 in
Fig. 5 , the movingbody 71 is moved toward the placement table 60. With the above operation, conveyance of onework 2 from the placement table 60 to the holdingapparatus 10 ends. The conveyedwork 2 is held on the holdingapparatus 10, and machined. - When machining ends, the
work 2 held by the holdingapparatus 10 is released, and theconveyance apparatus 70 conveys thework 2 on the holdingapparatus 10 to the placement table 50. First, the movingbody 71 is moved to the holdingapparatus 10 to locate the holdingapparatus 73 above the holdingapparatus 10. This locates the holdingapparatus 73 above thework 2. The vertical movingapparatus 72 lowers the holdingapparatus 73, and the chuckingbodies 731 are actuated to hold thework 2. Subsequently, the vertical movingapparatus 72 raises the holdingapparatus 73 to lift up thework 2. - Next, as shown in a state ST4 in
Fig. 6 , the movingbody 71 is moved to the placement table 50. This locates thework 2 above the placement table 50. The vertical movingapparatus 72 lowers the holdingapparatus 73 to place thework 2 on the placement table 50 (or on thework 2 placed on the placement table 50). Then, chucking by the chuckingbodies 731 is stopped to release the heldwork 2. - After that, as shown in a state ST5 in
Fig. 6 , the movingbody 71 is moved above the placement table 60 to convey thenext work 2 to the holdingapparatus 10. - An example of machining of the
work 2 conveyed onto the holdingapparatus 10 will be described next. Generally, the shape and position of the machining target portion of thework 2 are detected. Then, based on a detection result, the movingmechanism 12, the movingapparatus 30, and themachining unit 20 are controlled to machine thework 2. - In this embodiment, these processes are performed by one reciprocating movement operation of the moving
body 32. More specifically, the shape of thework 2 is detected during forward movement of the movingbody 32, and thework 2 is machined during the backward movement of the movingbody 32. - An example of detection of the shape of the
work 2 will be described with reference toFigs. 7 and8 .Figs. 7 and8 show the states (ST11 to ST13) of themachining area 3 in a planar view (Fig. 7 ) and a side view (Fig. 8 ), respectively. - The state ST11 shows a case in which the moving
body 32 is at the initial position. Thecamera 42 is located at a position shifted in the Y direction from thework 2 held by the holdingapparatus 10. Detection of the shape of thework 2 starts from this position. First, theillumination apparatus 43 starts to irradiate thework 2, and thecamera 42 starts to shoot thework 2. - Next, as shown in the state ST12, the moving
body 32 is moved to scan on thework 2. Thecamera 42 sequentially shoots the shape of thework 2, and image data and position information are saved in thestorage unit 82. When, as shown in the state ST13, the movingbody 32 reaches the position (turnaround position) shifted in the Y direction from thework 2, shooting ends. In this way, thework 2 is wholly scanned. - Note that in this embodiment, the
detection apparatus 40 is fixed to thebeam member 323. However, thedetection apparatus 40 may be attached to thebeam member 323 via a vertical moving apparatus to be movable vertically. Then, a sensor that detects the distance between thedetection apparatus 40 and thework 2 may be provided, and the vertical moving apparatus may be controlled to keep the distance constant during scanning of thework 2. This control processing can reliably maintain a state in which thecamera 42 focuses on thework 2 during scanning of thework 2. - As a result of the shooting processing, for example, shape data 2' of the
work 2 shown inFig. 8 is obtained. This shape data 2' indicates the outer shape of thework 2 and its position information (coordinate data). In the example ofFig. 8 , a plurality of machining target portions P1 to P8 exist in thework 2. The shape data 2' also includes the outer shapes of the machining target portions P1 to P8 and their pieces of position information. - Note that in the example of
Fig. 8 , a case in which the plurality of machining target portions exist in onework 2 is exemplified. However, onework 2 may include one machining target portion. In addition, a machining target portion may be automatically determined or designated by an operator. - If a machining target portion is automatically determined, design data of the
work 2 in which a machining target portion is designated is prepared, and the design data and the shape data 2' are compared with each other, thereby making it possible to automatically determine a machining target portion. If the overall peripheral edge of thework 2 is set as a machining target portion, it is only necessary to recognize the peripheral edge, and thus automatic determination can be made without requiring preparation of design data. - If a machining target portion is designated by the operator, for example, the shape data 2' is transmitted to the
host computer 86 to display an image, and then the operator of thehost computer 86 can designate a machining target portion from an input device. - Note that the acquired coordinates of the shape data 2' can be recognized by, for example, collating planar data acquired in advance and representing the layout of the holding
apparatus 10 with the output signal of the encoder of the motor that drives the movingbody 32. - An example of machining based on the detection result of the shape of the
work 2 will be described with reference toFigs. 9 and10 .Figs. 9 and10 show the states (ST21 to ST24) of themachining area 3 in a planar view and a side view in upper and lower portions. Furthermore, thework 2 on the holdingapparatus 10 is transparently shown. - The state ST21 in
Fig. 9 indicates a case in which the movingbody 32 is located in the end portion of thework 2. This embodiment assumes that the machining target portions are machined in an order of P1 → P2 → ... → P8. First, the movingapparatus 30 moves themachining unit 20 closer to the machining target portion P1 (movement step). At the same time, based on the shape data 2', the holdingunit 11 located at the machining target portion P1 is specified. The holdingunit 11h is located at the machining target portion P1. Therefore, chucking by the chuckingbodies 113 of the holdingunit 11h is stopped to release holding. The movingmechanism 12 that moves the holdingunit 11h is driven to switch the position of the holdingunit 11h from the holding position to the retracted position (position change step). Note that movement of themachining unit 20 and switching of the position of the holdingunit 11 may be controlled to be perform sequentially instead of being performed simultaneously. In this case, either of these processes may be performed first. - As shown in the state ST22 in
Fig. 9 , when themachining unit 20 reaches a position above the machining target portion P1, themachining unit 20 is lowered and themachining unit 20 is driven, starting chamfering of the edge of the machining target portion P1 by the rotatingtool 25. Details of chamfering will be described later with reference toFigs. 16 to 18 . - By moving the
machining unit 20 in the direction of an arrow along the shape of the machining target portion P1, chamfering of the edge of the machining target portion P1 is continuously performed. Since chamfering of the edge is performed for each of the upper and lower edges of thework 2, themachining unit 20 moves in the direction of the arrow along the shape of the machining target portion P1 twice. However, to machine the upper and lower edges of thework 2, thework 2 need not be flipped. Themachining unit 20 can be moved by the movingapparatus 30 based on the shape data 2'. - At the time of chamfering, the holding
unit 11h is at the retracted position, and never interferes with the rotatingtool 25. In other words, by moving the holdingunit 11h to the retracted position, the portion of the holdingunit 11h in the holdingapparatus 10 functions as not a table used to place and support thework 2 but a work area (work space) of the machining target portion P1 of thework 2. Therefore, the holdingunit 11h never hinders machining or is never damaged by the rotatingtool 25. Furthermore, the holdingunits 11 other than the holdingunit 11h are located at the holding positions to hold thework 2. Thus, the position of thework 2 is never shifted during machining. - When machining of the machining target portion P1 ends, the process advances to machining of the machining target portion P2. The state ST23 in
Fig. 10 indicates a state in which transition to machining of the machining target portion P2 starts. First, themachining unit 20 is raised, and is moved closer to the machining target portion P2 by the movingapparatus 30. At the same time, based on the shape data 2', the holdingunit 11 located at the machining target portion P2 is specified. The holdingunit 11g is located at the machining target portion P2. Therefore, chucking by the chuckingbodies 113 of the holdingunit 11g is stopped to release holding. The movingmechanism 12 that moves the holdingunit 11g is driven to switch the position of the holdingunit 11g from the holding position to the retracted position (position change step). Furthermore, the holdingunit 11h located at the already machined machining target portion P1 is switched from the retracted position to the holding position. Then, the chuckingbodies 113 of the holdingunit 11h are driven to hold thework 2. - As shown in the state ST24 in
Fig. 10 , when themachining unit 20 reaches a position above the machining target portion P2, themachining unit 20 is lowered and themachining unit 20 is driven, starting machining of the machining target portion P2 by the rotatingtool 25. By moving themachining unit 20 in the direction of an arrow along the shape of the machining target portion P2, chamfering of the edge of the machining target portion P2 is performed. Themachining unit 20 can be moved by the movingapparatus 30 based on the shape data 2'. - Similar to the machining target portion P1, the holding
unit 11g is located at the retracted position, and never interferes with the rotatingtool 25.
Therefore, the holdingunit 11g never hinders machining or is never damaged by the rotatingtool 25. Furthermore, the holdingunits 11 other than the holdingunit 11g are located at the holding positions to hold thework 2. Thus, the position of thework 2 is never shifted during machining. - When machining of the machining target portion P2 ends, the process advances to machining of the machining target portion P3. The common holding unit 11 (holding
unit 11g) is located at the machining target portions P2 and P3. Thus, the machining target portion P3 is machined while keeping the holdingunit 11g at the retracted position. The machining operation advances in the same procedure. - As described above, according to this embodiment, when the holding
unit 11 located at the machining target portion is moved to the retracted position, and the remaining holdingunits 11 hold thework 2, it is possible to avoid interference between therotating tool 25 and the holdingunit 11 while reliably holding thework 2. By making each holdingunit 11 movable between the retracted position and the holding position, different machining target portions can be processed. Therefore, one holdingapparatus 10 can quickly process various works having different shapes and different machining target portions. - When machining of all the machining target portions ends, the moving
body 32 returns to the initial position. In this way, during one reciprocating movement operation of the movingbody 32, the shape of thework 2 can be detected and thework 2 can be machined. After that, theconveyance apparatus 70 conveys themachined work 2 from the holdingapparatus 10, and conveys the newunmachined work 2 to the holdingapparatus 10. For the newunmachined work 2, detection of the shape of thework 2 and machining of thework 2 are performed in the same procedure. - This embodiment has explained a case in which for each
work 2, detection of the shape of thework 2 and machining of thework 2 are performed. However, when machining the same kind ofworks 2 successively, the shape may be detected only once in the first operation. In this case, a positioning apparatus that positions thework 2 on the holdingapparatus 10 is provided so that the second andsubsequent works 2 are held at the same position as that of thefirst work 2. Furthermore, thework 2 can be machined while detecting the shape of thework 2. For example, during the movement of the movingbody 32 from the initial position to the turnaround position, thework 2 can be machined based on the result of detecting the shape of thework 2 while detecting the shape of thework 2. - Details of chamfering will be described with reference to
Figs. 16 to 18 . A state ST51 inFig. 16 indicates a state in which themachining unit 20 is located above the machining target portion P this time. Each view shows the rotatingtool 25 as if it stopped but therotating tool 25 is rotating. - The
work 2 includes theupper surface 2a, thelower surface 2b, and theend face 2e. The corner portion between theupper surface 2a and theend face 2e forms anupper edge 2c, and the corner portion between thelower surface 2b and theend face 2e forms alower edge 2d. If the shape of thework 2 is formed by cutting a raw material steel sheet by a laser cutter or a plasma cutter,molten slag 2f adheres to a portion around the cut edge on the lower side of the steel sheet. The surface has an uneven structure in the state in which theslag 2f adheres to the portion around the cut edge, and if the work is directly used for an end product, the end product is adversely influenced. It is, therefore, necessary to perform chamfering (for example, R chamfering or C chamfering) of the cut edge by including removal of theslag 2f. In this embodiment, thework 2 is held by setting, as thelower surface 2b, the surface on which theslag 2f has been generated. The plate thickness of thework 2 is measured by theplate thickness sensor 6 before machining. - In this embodiment, chamfering of the
work 2 is performed in an order of theupper edge 2c → thelower edge 2d. A state ST52 inFig. 16 indicates a state in which the movingapparatus 30 lowers themachining unit 20 to locate themachining portion 252 of therotating tool 25 on a side of theupper edge 2c. At this time, the vertical movingunit 26 changes the position of the uppersurface abutting member 271 in the Z direction with respect to therotating tool 25 so that the abuttingportion 271a of the uppersurface abutting member 271 abuts against theupper surface 2a. In the state ST52, the position of the machining unit 20 (the position of the machining portion 252) and the position of the vertical moving body 27 (upper surface abutting member 271) are set based on the result of previously measuring the plate thickness of thework 2 by theplate thickness sensor 6. For example, the optimum positions of the machining unit 20 (machining portion 252) and the vertical movingbody 27 in the master piece can be corrected based on the plate thickness measurement result of thework 2 to set the respective positions this time. - As shown in a state ST53 in
Fig. 17 , the movingapparatus 30 horizontally moves themachining unit 20, starting chamfering of theupper edge 2c by the machining portion 252 (machining step). At this time, when the abuttingportion 254a of the endface abutting member 254 abuts against theend face 2e, it is possible to suppress the cutting depth from being deep while pressing themachining portion 252 against theupper edge 2c by the movingapparatus 30. When chamfering starts, the movingapparatus 30 moves themachining unit 20 along the shape of the machining target portion P, as shown in the state ST22 inFig. 9 and the like (first moving operation). At this time, the abuttingportion 271a of the uppersurface abutting member 271 is abutted against theupper surface 2a of thework 2. However, the size or diameter of the uppersurface abutting member 271 is adjusted so that the abutting position is far away from theupper edge 2c. This can abut the uppersurface abutting member 271 against theupper surface 2a of thework 2 stably without any influence of theslag 2f even if theslag 2f adheres to a portion near theupper edge 2c. Furthermore, a state in which the abuttingportion 254a of the endface abutting member 254 abuts against theend face 2e of thework 2 is maintained. Thus, the cutting portion can be continuously moved while maintaining the position of themachining portion 252 with respect to theupper edge 2c at an appropriate position. - When chamfering of the
upper edge 2c ends, the process transitions to chamfering of thelower edge 2d. First, as shown in a state ST54 inFig. 17 , the movingapparatus 30 horizontally moves themachining unit 20 to separate themachining portion 252 from theupper edge 2c, and then raises themachining unit 20. Subsequently, as shown in a state ST55 inFig. 18 , the movingapparatus 30 lowers themachining unit 20 to locate themachining portion 253 of therotating tool 25 on a side of thelower edge 2d. At this time, the vertical movingunit 26 changes the position of the uppersurface abutting member 271 in the Z direction with respect to therotating tool 25 so that the abuttingportion 271a of the uppersurface abutting member 271 abuts against theupper surface 2a (change step). Similar to machining of theupper edge 2c, the position of the machining unit 20 (the position of the machining portion 253) and the position of the vertical moving body 27 (the position of the upper surface abutting member 271) are set based on the result of measuring the plate thickness of thework 2 by theplate thickness sensor 6. - As shown in a state ST56 in
Fig. 18 , the movingapparatus 30 horizontally moves themachining unit 20, starting chamfering of thelower edge 2d by the machining portion 253 (machining step). At this time, when the abuttingportion 255a of the endface abutting member 255 abuts against theend face 2e, it is possible to suppress the cutting depth from being deep while pressing themachining portion 253 against thelower edge 2d by the movingapparatus 30. - When chamfering starts, the moving
apparatus 30 moves themachining unit 20 along the shape of the machining target portion P, as shown in the state ST22 inFig. 9 and the like (second moving operation). At this time, a state in which the abuttingportion 271a of the uppersurface abutting member 271 abuts against theupper surface 2a of thework 2 and the abuttingportion 255a of the endface abutting member 255 abuts against theend face 2e of thework 2 is maintained. Thus, the cutting portion can be continuously moved while maintaining the position of themachining portion 253 with respect to thelower edge 2d at an appropriate position. Since the uppersurface abutting member 271 abuts against theupper surface 2a of thework 2 without anyslag 2f, theslag 2f never adversely influences positioning at the time of chamfering of thelower edge 2d. In addition, as shown in schematic views before and after chamfering of thelower edge 2d inFigs. 19A and 19B , theslag 2f is removed by chamfering of thelower edge 2d of thework 2, and if thework 2 having undergone chamfering in themachining system 1 according to this embodiment is used for a product, a satisfactory end product is obtained. - If an abutting member substituting as the upper
surface abutting member 271 is abutted against thelower surface 2b, theslag 2f interferes with the abutting member, thereby impairing the smooth movement of themachining unit 20. In this embodiment, even at the time of machining of thelower edge 2d, themachining unit 20 can be moved smoothly without any influence of theslag 2f by abutting the uppersurface abutting member 271 against theupper surface 2a. - During machining of the
lower edge 2d, the drivingunit 28 is extended to bias themovable plate 22 upward, as shown in the state ST34 inFig. 12 . This can always press themachining portion 253 upward against thelower edge 2d, and thelower edge 2d can be machined more reliably. When chamfering of thelower edge 2d ends, the movingapparatus 30 moves themachining unit 20 to another machining target portion, and the same processing is repeated. - As described above, in this embodiment, the
upper edge 2c and thelower edge 2d can be successively machined without replacing therotating tool 25 or flipping thework 2, and the edges of both the surfaces of the plate-like work 2 can be machined efficiently. By arranging themachining portions rotating tool 25 as in this embodiment, as compared with an opposite arrangement, the full length of therotating tool 25 can be shortened, and the vertical moving stroke of therotating tool 25 when switching the machining target between theupper edge 2c and thelower edge 2d can also be shortened. This contributes to improvement of the machining efficiency. Furthermore, in machining of each of theupper edge 2c and thelower edge 2d, it is possible to eliminate the influence of theslag 2f by abutting the uppersurface abutting member 271 against theupper surface 2a of thework 2. When switching between machining of theupper edge 2c and that of thelower edge 2d, it is only necessary to vertically move the uppersurface abutting member 271. This also contributes to improvement of the machining efficiency. - In the above-described embodiment, one plate-like member is used as the upper
surface abutting member 271, and a circular hole is formed as theinsertion portion 271b. However, other arrangements can be adopted.Figs. 20A to 20C show other examples. - In each of the examples shown in
Figs. 20A to 20C , an uppersurface abutting member 271 is formed by a plurality of plate-like members 271c. An arrangement is adopted, in which the lower surfaces of the plate-like members 271c are flat and flush with each other on the horizontal plane, and abut against anupper surface 2a of awork 2. Aninsertion portion 271d is formed by a gap among the plate-like members 271c. - In the example of
Fig. 20A , four plate-like members 271c are provided. Each plate-like member 271c is supported by acolumn member 272. The fourcolumn members 272 are arranged at an equal distance from the center of theinsertion portion 271d (that is, the shaft center of a rotating tool 25) and at an equal angular pitch θ (90°) in the circumferential direction around theinsertion portion 271d (that is, the rotating tool 25). - In the example of
Fig. 20B , three plate-like members 271c are provided. Each plate-like member 271c is supported by acolumn member 272. The threecolumn members 272 are arranged at an equal distance from the center of theinsertion portion 271d and at an equal angular pitch θ (120°) in the circumferential direction around theinsertion portion 271d. - In the example of
Fig. 20C , two plate-like members 271c are provided. Each plate-like member 271c is supported by acolumn member 272. The twocolumn members 272 are arranged at an equal distance from the center of theinsertion portion 271d and at an equal angular pitch θ (180°) in the circumferential direction around theinsertion portion 271d. - While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.
Claims (8)
- A machining system (1) comprising:a machining unit (20) configured to machine an upper edge and a lower edge of a plate-like work (2) held in a horizontal orientation; anda moving apparatus (30) configured to move the machining unit,the machining unit (20) comprisinga rotating tool (25) configured to rotate about an axis in a vertical direction and machine the work,an upper surface abutting member (271) configured to be abutted against an upper surface of the work when machining the work by the rotating tool,an end face abutting member (254,255) configured to be abutted against an end face of the work between the upper edge and the lower edge when machining the work by the rotating tool, anda vertical moving unit (26) configured to change a position of the upper surface abutting member in the vertical direction with respect to the rotating tool, andthe rotating tool (25) comprisinga machining portion main body (251),a first machining portion (252) provided on a lower side of the machining portion main body and configured to machine the upper edge of the work, anda second machining portion (253) provided on an upper side of the machining portion main body and configured to machine the lower edge of the work.
- The system according to claim 1, wherein the e end face abutting member comprisesa first end face abutting member (255) supported by the machining portion main body on an upper side of the second machining portion, anda second end face abutting member (254) supported by the machining portion main body on a lower side of the first machining portion.
- The system according to claim 1, wherein the upper surface abutting member is a member including an insertion portion (271b) into which the rotating tool is inserted.
- The system according to claim 3, wherein
the insertion portion (271b) comprises a hole, and
the upper surface abutting member is provided around the hole, and includes an annular abutting portion (271a) abutted against the upper surface of the work. - The system according to claim 3, wherein
the upper surface abutting member comprises at least two plate-like members (271c) each having a flat lower surface abutted against the upper surface of the work, and
the insertion portion comprises a gap (271d) between the plate-like members. - The system according to claim 1, further comprising:a sensor (6) configured to measure a plate thickness of the work; anda control unit (80) configured to control a position of the upper surface abutting member with respect to the rotating tool by vertically moving the vertical moving unit based on a measurement result of the sensor.
- The system according to claim 3, wherein
the vertical moving unit (26) includes a plurality of column members (272) configured to support the upper surface abutting member,
the plurality of column members (272) are arranged at an equal angular pitch in a circumferential direction around the rotating tool (25). - A machining method of machining a plate-like work (2) held in a horizontal orientation by moving a machining unit (20) while abutting the machining unit against an upper edge and a lower edge of the work,
the machining unit (20) comprising
a rotating tool (25) configured to rotate about an axis in a vertical direction and machine the work,
an upper surface abutting member (271) configured to be abutted against an upper surface of the work when machining the work by the rotating tool,
an end face abutting member (254,255) configured to be abutted against an end face of the work between the upper edge and the lower edge when machining the work by the rotating tool, and
a vertical moving unit (26) configured to change a position of the upper surface abutting member in the vertical direction with respect to the rotating tool, and
the rotating tool (25) comprising
a machining portion main body (251),
a first machining portion (252) provided on a lower side of the machining portion main body and configured to machine the upper edge of the work, and
a second machining portion (253) provided on an upper side of the machining portion main body and configured to machine the lower edge of the work,
the method comprising:machining the upper edge by the first machining portion while abutting the upper surface abutting member against the upper surface of the work;changing a relative position in the vertical direction between the upper surface abutting member and the second machining portion of the rotating tool by driving the vertical moving unit; andmachining the lower edge by the second machining portion while keeping the upper surface abutting member abutted against the upper surface of the work.
Priority Applications (1)
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EP20170751.0A EP3702099A1 (en) | 2018-03-29 | 2019-02-27 | Machining system and machining method |
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JP2018065408A JP6767417B2 (en) | 2018-03-29 | 2018-03-29 | Processing system and processing method |
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EP20170751.0A Division EP3702099A1 (en) | 2018-03-29 | 2019-02-27 | Machining system and machining method |
EP20170751.0A Division-Into EP3702099A1 (en) | 2018-03-29 | 2019-02-27 | Machining system and machining method |
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EP3546118A1 true EP3546118A1 (en) | 2019-10-02 |
EP3546118B1 EP3546118B1 (en) | 2021-09-08 |
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EP19159565.1A Active EP3546118B1 (en) | 2018-03-29 | 2019-02-27 | Machining system and machining method |
EP20170751.0A Pending EP3702099A1 (en) | 2018-03-29 | 2019-02-27 | Machining system and machining method |
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US (1) | US10888934B2 (en) |
EP (2) | EP3546118B1 (en) |
JP (1) | JP6767417B2 (en) |
KR (1) | KR102155373B1 (en) |
CN (1) | CN110315115B (en) |
DK (1) | DK3546118T3 (en) |
ES (1) | ES2893462T3 (en) |
SG (1) | SG10201901796WA (en) |
TW (1) | TWI720433B (en) |
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US20210060667A1 (en) * | 2019-08-28 | 2021-03-04 | Jeffrey M. Watton | Tool for burr/flash removal |
JP7441703B2 (en) | 2020-03-31 | 2024-03-01 | 日鉄建材株式会社 | Steel pipe mechanical joint structure |
EP3944939A1 (en) * | 2020-07-31 | 2022-02-02 | Ledermann GmbH & Co. KG | Tool unit and switchable tool system for such a tool unit |
CN113145909A (en) * | 2021-04-25 | 2021-07-23 | 顾浩 | Multifunctional steel plate beveling machine |
KR102333491B1 (en) * | 2021-10-01 | 2021-12-01 | 제이에스씨 주식회사 | Milling device for edge of plate |
CN114309817B (en) * | 2022-03-03 | 2022-10-28 | 成都航天精诚科技有限公司 | Manufacturing and detecting method of high-precision large-specification strip-shaped workpiece |
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-
2019
- 2019-02-27 EP EP19159565.1A patent/EP3546118B1/en active Active
- 2019-02-27 ES ES19159565T patent/ES2893462T3/en active Active
- 2019-02-27 DK DK19159565.1T patent/DK3546118T3/en active
- 2019-02-27 EP EP20170751.0A patent/EP3702099A1/en active Pending
- 2019-02-28 SG SG10201901796W patent/SG10201901796WA/en unknown
- 2019-03-07 TW TW108107564A patent/TWI720433B/en active
- 2019-03-12 KR KR1020190027901A patent/KR102155373B1/en active IP Right Grant
- 2019-03-18 US US16/356,248 patent/US10888934B2/en active Active
- 2019-03-22 CN CN201910219460.6A patent/CN110315115B/en active Active
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Also Published As
Publication number | Publication date |
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TW201941847A (en) | 2019-11-01 |
EP3702099A1 (en) | 2020-09-02 |
EP3546118B1 (en) | 2021-09-08 |
TWI720433B (en) | 2021-03-01 |
ES2893462T3 (en) | 2022-02-09 |
US10888934B2 (en) | 2021-01-12 |
KR102155373B1 (en) | 2020-09-11 |
KR20190114758A (en) | 2019-10-10 |
SG10201901796WA (en) | 2019-10-30 |
DK3546118T3 (en) | 2021-11-01 |
US20190299303A1 (en) | 2019-10-03 |
CN110315115A (en) | 2019-10-11 |
JP2019171545A (en) | 2019-10-10 |
CN110315115B (en) | 2021-07-27 |
JP6767417B2 (en) | 2020-10-14 |
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